Hand-eye calibration method, system and computer storage medium based on calibration point extraction
A hand-eye calibration and point calibration technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as reducing production efficiency, increasing equipment costs, and increasing workpiece pre-positioning steps.
Active Publication Date: 2021-05-18
深圳辰视智能科技有限公司
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This method has higher requirements on the surrounding mechanical equipment, which increases the equipment cost; increases the workpiece pre-positioning step, reduces the production efficiency; and when the position of the workpiece changes, it is necessary to readjust the surrounding mechanical equipment and adjust the mechanical arm. Reprogrammed, less adaptive
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[0052] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only for explaining the present invention, and are not intended to limit the present invention.
[0053] In the following description, use of suffixes such as 'module', 'part' or 'unit' for denoting elements is only for facilitating description of the present invention and has no specific meaning by itself. Therefore, 'module', 'part' or 'unit' may be used in combination.
[0054] The invention provides a hand-eye calibration method based on calibration point extraction. On the basis of using the calibration board to extract the calibration points to calibrate the internal and external parameters of the camera, the mapping relationsh...
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The invention discloses a hand-eye calibration method, system and computer storage medium based on calibration point extraction, belonging to the field of machine vision sorting. The method includes: extracting the pixel coordinates of the calibration point image according to the calibration board and establishing a world coordinate system, and determining the relative relationship between the camera coordinate system and the world coordinate system; According to the calibration point and the world coordinate system, the user coordinate system of the manipulator is established, and the relationship between the world coordinate system and the user coordinate system of the manipulator is determined. The hand-eye calibration method, system and computer storage medium based on calibration point extraction provided by the invention can determine the actual grasping coordinates of the mechanical arm according to the image coordinates, can improve the self-adaptability of the sorting of the mechanical arm, and improve the performance of the mechanical arm. Intelligent level, reduce equipment cost and improve production efficiency.
Description
technical field [0001] The invention relates to the field of machine vision sorting, in particular to a hand-eye calibration method, system and computer storage medium based on calibration point extraction. Background technique [0002] In recent years, in the field of robotic arm sorting, the industrial robotic arm is generally guided to grab materials by teaching the industrial robotic arm. This method needs to fix the workpiece to be grabbed to a fixed position, and then teach the robotic arm to the specified position. location capture. This method has higher requirements on the surrounding mechanical equipment, which increases the equipment cost; increases the workpiece pre-positioning step, reduces the production efficiency; and when the position of the workpiece changes, it is necessary to readjust the surrounding mechanical equipment and adjust the mechanical arm. Reprogrammed, less adaptive. [0003] Therefore, in order to reduce production costs, improve productio...
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IPC IPC(8): B25J9/16
CPCB25J9/1697
Inventor 陈恳陈先开姚杰冯良炳
Owner 深圳辰视智能科技有限公司